Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control
Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control
复制标题
DOI：
10.1007/s10514-012-9280-5
复制
发表时间：
2012-08
影响因子：
3.5
通讯作者：
P. Pounds;Daniel R. Bersak;A. Dollar
中科院分区：
文献类型：
--
作者：
P. Pounds;Daniel R. Bersak;A. Dollar
将旋翼机应用于自主承载和运输是无人飞行器发展的新领域。这项任务要求悬停飞行器在载荷质量增加时保持飞行稳定和平衡。如果有效载荷没有放在中心位置，或者车辆没有适当地调整以适应偏移载荷，则机器人将受到必须拒绝的偏置力。本文研究了在比例-积分-导数飞行控制下，瞬时增加载荷质量所带来的动态载荷扰动对直升机和四旋翼飞机的影响。我们确定了稳定边界，在该边界内，由于所获得的目标引起的系统质量惯性参数的变化不会使这些飞机在该标准飞行控制器下失稳。此外，我们通过实验证明了直升机在经历一系列瞬时载荷变化时的稳定性行为。
The application of rotorcraft to autonomous load carrying and transport is a new frontier for Unmanned Aerial Vehicles (UAVs). This task requires that hovering vehicles remain stable and balanced in flight as payload mass is added to the vehicle. If payload is not loaded centered or the vehicle properly trimmed for offset loads, the robot will experience bias forces that must be rejected. In this paper, we explore the effect of dynamic load disturbances introduced by instantaneously increased payload mass and how those affect helicopters and quadrotors under Proportional-Integral-Derivative flight control. We determine stability bounds within which the changing mass-inertia parameters of the system due to the acquired object will not destabilize these aircraft with this standard flight controller. Additionally, we demonstrate experimentally the stability behavior of a helicopter undergoing a range of instantaneous step payload changes.